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‎Examples/README.md

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There are two example programs here. Both programs require OpenCV to be installed with GStreamer support enabled.
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Both of these examples were last tested with L4T 31.0.2, OpenCV 3.4.3
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The first is a simple C++ program to view the onboard camera feed from the Jetson Dev Kit.
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To compile gstreamer_view.cpp:
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$ g++ -o gstreamer_view -Wall -std=c++11 gstreamer_view.cpp $(pkg-config --libs opencv)
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to run the program:
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$ ./gstreamer_view
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The second is a Python program that reads the onboard camera feed from the Jetson Dev Kit and does Canny Edge Detection.
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To run the Canny detection demo (Python 2.7):
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$ python cannyDetection.py
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With Python 3.3:
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$ python3 cannyDetection.py
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With the Canny detection demo, use the less than (<) and greater than (>) to adjust the edge detection parameters.
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## Notes
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1. The gstreamer_view example is from Peter Moran:
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https://gist.github.com/peter-moran/742998d893cd013edf6d0c86cc86ff7f
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Note that the nvvidconv flip-method was changed to 0. Earlier versions of L4T used a flip method of 2.
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2. For the Python examples, you will need to have the appropriate librariers installed. From the buildOpenCV scripts:
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#### Python 2.7
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$ sudo apt-get install -y python-dev python-numpy python-py python-pytest
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#### Python 3.5
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$ sudo apt-get install -y python3-dev python3-numpy python3-py python3-pytest
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## License
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MIT License
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Copyright (c) 2017-2018 Jetsonhacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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gstreamer_view example Copyright (c) 2017 Peter Moran
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‎Examples/cannyDetection.py

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#!/usr/bin/env python
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# MIT License
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# Copyright (c) 2017-18 Jetsonhacks
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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import sys
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import argparse
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import cv2
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import numpy as np
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def parse_cli_args():
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parser = argparse.ArgumentParser()
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parser.add_argument("--video_device", dest="video_device",
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help="Video device # of USB webcam (/dev/video?) [0]",
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default=0, type=int)
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arguments = parser.parse_args()
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return arguments
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# Use a Jetson TX1 or TX2 camera in the Jetson AGX Xavier Camera Slot
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def open_onboard_camera():
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return cv2.VideoCapture("nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink")
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# Open an external usb camera /dev/videoX
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def open_camera_device(device_number):
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return cv2.VideoCapture(device_number)
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def read_cam(video_capture):
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if video_capture.isOpened():
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windowName = "CannyDemo"
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cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
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cv2.resizeWindow(windowName,1280,720)
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cv2.moveWindow(windowName,0,0)
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cv2.setWindowTitle(windowName,"Canny Edge Detection")
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showWindow=3 # Show all stages
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showHelp = True
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font = cv2.FONT_HERSHEY_PLAIN
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helpText="'Esc' to Quit, '1' for Camera Feed, '2' for Canny Detection, '3' for All Stages. '4' to hide help"
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edgeThreshold=40
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showFullScreen = False
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while True:
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if cv2.getWindowProperty(windowName, 0) < 0: # Check to see if the user closed the window
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# This will fail if the user closed the window; Nasties get printed to the console
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break;
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ret_val, frame = video_capture.read();
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if frame is None:
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continue ;
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hsv=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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blur=cv2.GaussianBlur(hsv,(7,7),1.5)
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edges=cv2.Canny(blur,0,edgeThreshold)
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if showWindow == 3: # Need to show the 4 stages
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# Composite the 2x2 window
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# Feed from the camera is RGB, the others gray
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# To composite, convert gray images to color.
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# All images must be of the same type to display in a window
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frameRs=cv2.resize(frame, (640,360))
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hsvRs=cv2.resize(hsv,(640,360))
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vidBuf = np.concatenate((frameRs, cv2.cvtColor(hsvRs,cv2.COLOR_GRAY2BGR)), axis=1)
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blurRs=cv2.resize(blur,(640,360))
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edgesRs=cv2.resize(edges,(640,360))
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vidBuf1 = np.concatenate( (cv2.cvtColor(blurRs,cv2.COLOR_GRAY2BGR),cv2.cvtColor(edgesRs,cv2.COLOR_GRAY2BGR)), axis=1)
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vidBuf = np.concatenate( (vidBuf, vidBuf1), axis=0)
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if showWindow==1: # Show Camera Frame
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displayBuf = frame
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elif showWindow == 2: # Show Canny Edge Detection
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displayBuf = edges
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elif showWindow == 3: # Show All Stages
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displayBuf = vidBuf
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if showHelp == True:
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cv2.putText(displayBuf, helpText, (11,20), font, 1.0, (32,32,32), 4, cv2.LINE_AA)
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cv2.putText(displayBuf, helpText, (10,20), font, 1.0, (240,240,240), 1, cv2.LINE_AA)
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cv2.imshow(windowName,displayBuf)
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key=cv2.waitKey(10)
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if key == 27: # Check for ESC key
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cv2.destroyAllWindows()
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break ;
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elif key==49: # 1 key, show frame
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cv2.setWindowTitle(windowName,"Camera Feed")
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showWindow=1
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elif key==50: # 2 key, show Canny
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cv2.setWindowTitle(windowName,"Canny Edge Detection")
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showWindow=2
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elif key==51: # 3 key, show Stages
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cv2.setWindowTitle(windowName,"Camera, Gray scale, Gaussian Blur, Canny Edge Detection")
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showWindow=3
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elif key==52: # 4 key, toggle help
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showHelp = not showHelp
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elif key==44: # , lower canny edge threshold
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edgeThreshold=max(0,edgeThreshold-1)
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print ('Canny Edge Threshold Maximum: ',edgeThreshold)
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elif key==46: # , raise canny edge threshold
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edgeThreshold=edgeThreshold+1
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print ('Canny Edge Threshold Maximum: ', edgeThreshold)
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elif key==74: # Toggle fullscreen; This is the F3 key on this particular keyboard
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# Toggle full screen mode
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if showFullScreen == False :
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cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
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else:
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cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_NORMAL)
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showFullScreen = not showFullScreen
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else:
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print ("camera open failed")
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if __name__ == '__main__':
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arguments = parse_cli_args()
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print("Called with args:")
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print(arguments)
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print("OpenCV version: {}".format(cv2.__version__))
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print("Device Number:",arguments.video_device)
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print cv2.getBuildInformation()
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if arguments.video_device==0:
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print("Using on-board camera")
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video_capture=open_onboard_camera()
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else:
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video_capture=open_camera_device(arguments.video_device)
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# Only do this on external cameras; onboard will cause camera not to read
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video_capture.set(cv2.CAP_PROP_FPS,30)
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read_cam(video_capture)
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video_capture.release()
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cv2.destroyAllWindows()

‎Examples/gstreamer_view.cpp

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/*
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Example code for displaying gstreamer video from the CSI port of the Nvidia Jetson in OpenCV.
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Created by Peter Moran on 7/29/17.
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https://gist.github.com/peter-moran/742998d893cd013edf6d0c86cc86ff7f
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*/
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#include <opencv2/opencv.hpp>
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std::string get_tegra_pipeline(int width, int height, int fps) {
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return "nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)" + std::to_string(width) + ", height=(int)" +
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std::to_string(height) + ", format=(string)NV12, framerate=(fraction)" + std::to_string(fps) +
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"/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
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}
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int main() {
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// Options
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int WIDTH = 1920;
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int HEIGHT = 1080;
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int FPS = 30;
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// Define the gstream pipeline
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std::string pipeline = get_tegra_pipeline(WIDTH, HEIGHT, FPS);
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std::cout << "Using pipeline: \n\t" << pipeline << "\n";
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// Create OpenCV capture object, ensure it works.
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cv::VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
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if (!cap.isOpened()) {
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std::cout << "Connection failed";
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return -1;
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}
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// View video
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cv::Mat frame;
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while (1) {
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cap >> frame; // Get a new frame from camera
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// Display frame
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imshow("Display window", frame);
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cv::waitKey(1); //needed to show frame
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}
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}

‎LICENSE

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MIT License
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3-
Copyright (c) 2018 Jetsonhacks
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Copyright (c) 2017-2018 Jetsonhacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal

‎README.md

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# buildOpenCVXavier
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Build and install OpenCV for the NVIDIA Jetson AGX Xavier
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These scripts build OpenCV version 3.4 for the NVIDIA Jetson AGX Xavier Developer Kit.
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OpenCV is a rich environment which can be configured in many different ways. You should configure OpenCV for your needs, by modifying the build file "buildOpenCV.sh". Note that selecting different options in OpenCV may also have additional library requirements which are not included in these scripts. Please read the notes below for other important points before installing.
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The buildOpenCV script has two optional command line parameters:
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<ul>
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<li>-s | --sourcedir Directory in which to place the opencv sources (default $HOME)</li>
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<li>-i | --installdir Directory in which to install opencv libraries (default /usr/local)</li>
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</ul>
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To run the the build file:
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$ ./buildOpenCV.sh -s &lt;file directory&gt;
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This example will build OpenCV in the given file directory and install OpenCV in the /usr/local directory.
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The folder ~/opencv and (optional) ~/opencv_extras contain the source, build and extra data files. If you wish to remove them after installation, a convenience script is provided:
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$ ./removeOpenCVSources.sh -d &lt;file directory&gt;
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where the &lt;file directory&gt; contains the OpenCV source.
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The folder ~/opencv and ~/opencv_extras contain the source, build and extra data files. If you wish to remove them after installation, a convenience script is provided:
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$ ./removeOpenCVSources.sh
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<h3>Packaging</h3>
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An alternative build script, buildAndPackageOpenCV.sh , will build the OpenCV package as described above and the build .deb files using the standard OpenCV mechanism defined using the CPACK_BINARY_DEB=ON in the OpenCV Make file. See the script.
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The buildAndPackageOpenCV script has two optional command line parameters:
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<ul>
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<li>-s | --sourcedir Directory in which to place the opencv sources (default $HOME)</li>
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<li>-i | --installdir Directory in which to install opencv libraries (default /usr/local)</li>
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</ul>
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To run the the build file:
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$ ./buildAndPackageOpenCV.sh -s &lt;file directory&gt;
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This example will build OpenCV in the given file directory and install OpenCV in the /usr/local directory.
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The corresponding .deb files will be in the &lt;file directory&gt;/opencv/build directory in .deb file and compressed forms.
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<h4>Installing .deb files</h4>
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To install .deb files:
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Switch to the directory where the .deb files are located. Then:
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<blockquote>
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$ sudo dpkg -i OpenCV-&lt;OpenCV Version info&gt;-aarch64-libs.deb
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<em>For example: $ sudo dpkg -i OpenCV-3.4.1-1-g75a2577-aarch64-libs.deb</em>
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$ sudo apt-get install -f
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$ sudo dpkg -i OpenCV-&lt;OpenCV Version info&gt;-aarch64-dev.deb
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$ sudo dpkg -i OpenCV-&lt;OpenCV Version info&gt;-aarch64-python.deb </blockquote>
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The libraries will be installed in /usr/lib
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Binaries are in /usr/bin
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opencv.pc is in /usr/lib/pkgconfig
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<strong>Package Notes: </strong>
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<ul><li>The build process default installation is in /usr/local
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Note that the .deb file install into /usr</li>
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<li>After installation, the dpkg/apt name does not include version information, e.g. the name is opencv-libs</li>
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</ul>
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## Notes
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There may be issues if different version of OpenCV are installed. JetPack normally installs OpenCV in the /usr folder. You will need to consider if this is appropriate for your application. It is important to realize that many packages may rely on OpenCV. The standard installation by JetPack places the OpenCV libraries in the /usr directory.
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You may consider removing OpenCV installed by JetPack before performing this script installation:
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$ sudo apt-get purge libopencv*
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With this script release, the script now installs OpenCV in /usr/local. Earlier versions of this script installed in /usr. You may have to set your include and libraries and/or PYTHONPATH to point to the new version. See the Examples folder. Alternatively, you may want to change the script to install into the /usr directory.
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The Jetson is an aarch64 machine, which means that the OpenCV configuration variable ENABLE_NEON is ignored. The compiler includes NEON support for all machines with aarch64 architecture.
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These scripts rely on OpenCV finding the correct CUDA version, instead of setting it manually.
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Special thanks to Daniel (Github user @dkoguciuk) for script cleanup.
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## References
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Most of this information is derived from:
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http://docs.opencv.org/3.2.0/d6/d15/tutorial_building_tegra_cuda.html
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https://devtalk.nvidia.com/default/topic/965134/opencv-3-1-compilation-on-tx1-lets-collect-the-quot-definitive-quot-cmake-settings-/?offset=3
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## Release Notes
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November 2018
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* Initial Release
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* L4T 31.0.2
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* CUDA 10
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* OpenCV 3.4.3
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## License
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MIT License
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Copyright (c) 2017-2018 Jetsonhacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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